Creation of the High Quality Real 3D Image Representation from the Observe Defective Data.

一些类型的激光扫描仪可以同时测量距离和颜色数据，经常被用来获取室外场景的三维结构。然而，不幸的是，激光距离扫描仪不能给我们提供关于建筑物等目标对象的完美距离信息，并且各种因素导致距离数据的严重缺陷。提出了一种基于距离和彩色图像区域分割的缺陷检测方法，并将一种非线性时间演化方法应用于距离数据缺陷区域的修复。在缺陷检测方面，采用距离分割和颜色分割的方法，将观测数据分成建筑物、天空、地面等区域。利用分割结果确定缺陷区域。给定缺陷区域，它们的距离数据将根据其邻域内的观测数据进行修复。为此，对Bertalmio等人针对灰度图像缺陷修复提出的基于传输的修复算法进行了改进，针对距离数据的缺陷修复，构造了一种新的缺陷修复方法，该方法将基于传输的修复和数据投影到距离数据每个采样点的原始观察方向上的交错顺序更新应用到由观测距离数据转换而来的三维点数据上。使用人工损伤测试靶场数据和实际观测靶场数据进行的性能评估表明，该修复方法在定量性能和主观修复质量方面都优于现有的修复方法。

Some types of laser range scanner can measure range and color data simultaneously, and are often used to acquire 3D structure of outdoor scenery. However, unfortunately a laser range scanner cannot give us perfect range information about target objects such as buildings, and various factors incur critical defects of range data. We present a defect detection scheme based on the region segmentation using observed range-and-color image data, and apply a nonlinear time-evolution method to the repair of defect regions of range data. As to the defect detection, performing the range-andcolor segmentation, we divide observed data into several regions corresponding to buildings, the sky, the ground and so on. Using the segmentation results, we determine defect regions. Given defect regions, their range data will be repaired from observed data in their neighborhoods. For that purpose, reforming the transportation-based inpainting algorithm, previously developed for the defect repair of an intensity image by Bertalmio and others, for the defect repair of range data, we construct a new defect-repair method that applies the interleaved sequential updates, composed of the transportationbased inpainting and the data projection onto the original viewing direction of each sampling point of range data, to 3D point data converted from observed range data. The performance evaluations using artificially damaged test range data and really observed range data demonstrate that our repair method outperforms the existing repair methods both in quantitative performance and in subjective repair quality.